Hand mechanism.

摘要

A composite hand mechanism for attachment to an arm or the like of an industrial robot. The composite hand mechanism has gripping mechanisms (140) in addition to a suction mechanism. The gripping mechanisms have gripping frames (150) whose gripping width and gripping force can be adjusted, and gripping plates (170) which are moveable in the vertical direction. Thus, even if a force in the horizontal direction acts on a workpiece (M), the workpiece can still be safely held.